[go: up one dir, main page]

US9933263B2 - System and method for long baseline accelerometer/GNSS navigation - Google Patents

System and method for long baseline accelerometer/GNSS navigation Download PDF

Info

Publication number
US9933263B2
US9933263B2 US15/136,247 US201615136247A US9933263B2 US 9933263 B2 US9933263 B2 US 9933263B2 US 201615136247 A US201615136247 A US 201615136247A US 9933263 B2 US9933263 B2 US 9933263B2
Authority
US
United States
Prior art keywords
accelerometer
gnss
assembly
assemblies
rigid body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
US15/136,247
Other languages
English (en)
Other versions
US20170307378A1 (en
Inventor
Michael Bobye
Patrick Fenton
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Novatel Inc
Original Assignee
Novatel Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Novatel Inc filed Critical Novatel Inc
Priority to US15/136,247 priority Critical patent/US9933263B2/en
Assigned to NOVATEL INC. reassignment NOVATEL INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: BOBYE, MICHAEL, FENTON, PATRICK
Priority to EP16898888.9A priority patent/EP3446154A4/fr
Priority to CA3013947A priority patent/CA3013947A1/fr
Priority to PCT/CA2016/051508 priority patent/WO2017181261A1/fr
Publication of US20170307378A1 publication Critical patent/US20170307378A1/en
Application granted granted Critical
Publication of US9933263B2 publication Critical patent/US9933263B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry

Definitions

  • the present invention relates to global navigation satellite system (GNSS) antenna navigation systems and, more particularly, to paired inertial motion unit (IMU) and GNSS navigation systems.
  • GNSS global navigation satellite system
  • IMU paired inertial motion unit
  • Micro-electromechanical systems (MEMS) based gyroscopes are generally relatively expensive and can be highly inaccurate due to, e.g., biases and/or poor stability.
  • Accelerometers for use in inertial motion units (IMUs) have been examined as a possibility for use in GNSS/INS systems; however, they lack the accuracy due to the short baseline between the pairs of accelerometers when combined in a compact unit for use in a conventional IMU.
  • Conventional MEMS gyroscopic systems often lack the necessary accuracy for modern navigation systems requirements. Further, their relatively high cost often places the use of such MEMS gyroscopes at price points that are unreasonable and/or unfeasible for many navigation applications.
  • An exemplary accelerometer triad comprises of three orthogonally oriented accelerometers that are arranged to enable measurement of yaw, pitch and roll of the accelerometer triad.
  • a plurality of antenna/accelerometer triad units are attached to a rigid frame with a reasonable antenna separation, e.g., on the order of decimeters.
  • This relatively long baseline length increases the angular rate sensitivity from the accelerometers as well as from the GNSS.
  • the increased angular rate sensitivity provides a better rate stability and performance over equivalently priced gyroscopes.
  • An inertial navigation system performs a double integration of the measured accelerations between GNSS solutions.
  • any combination of rotational rate observations may be obtained, including up to six degrees of freedom (DOF).
  • DOF degrees of freedom
  • FIG. 1 is a schematic diagram of an exemplary GNSS antenna and accelerometer triad system in accordance with an illustrative embodiment of the present invention
  • FIG. 2 is a schematic diagram illustrating the exemplary spacing between accelerometer triad/GNSS antenna systems in accordance with an illustrative embodiment of the present invention
  • FIG. 3 is a schematic diagram of an exemplary navigation location system utilizing accelerometer triad/GNSS antenna pairs in accordance with an illustrative embodiment of the present invention.
  • FIG. 4 is a flowchart detailing the steps of an exemplary procedure for identifying location information utilizing accelerometer triad/GNSS antenna pairs in accordance with an illustrative embodiment of the present invention.
  • FIG. 1 is an exemplary perspective diagram of an illustrative antenna/accelerometer triad system 100 in accordance with an illustrative embodiment of the present invention.
  • the antenna/accelerometer system 100 illustratively comprises two GNSS antennas 110 A, B each operatively associated with an accelerometer triad unit 115 A, B that are mounted to a rigid body 105 .
  • more than two GNSS antenna/accelerometer triad units may be utilized.
  • the GNSS antennas 110 A, B may comprise conventional GNSS antennas that are commonly utilized by those skilled in the art.
  • the accelerometer triad units 115 A, B illustratively comprise three accelerometers arranged so that they measure yaw, pitch, and roll rates as well as absolute pitch and roll of the rigid body.
  • the accelerometer triad units 115 A, B may illustratively comprise a single unit of three accelerometers. However, in alternative embodiments, a plurality of separate accelerometers may be utilized to form the accelerometer triad unit 115 . As such, the description of three separate accelerometers comprising the triad unit should be taken as exemplary only.
  • the accelerometers are arranged orthogonally so that they may measure acceleration in the X, Y and Z axis as well as provide yaw, pitch and roll rate information. In an exemplary embodiment, they may be arranged along the edges of the GNSS antenna. However, it is expressly contemplated that the accelerometers may be arranged in differing configurations. Information received from the GNSS antennas 110 and the accelerometer triad units 115 are fed into a receiver unit 300 , described further below in reference to FIG. 3 .
  • the rigid body 105 may comprise a structural element on which the GNSS antennas and accelerometer triads are mounted.
  • the rigid body 105 may comprise an element of a vehicle (not shown) on which the GNSS/accelerometer triad units are mounted.
  • the rigid body 105 may comprise of the roof of a vehicle that utilizes the GNSS/accelerometer units for navigational information.
  • the rigid body 105 may comprise any structure that supports the set of GNSS 110 and accelerometer 115 separated by a predefined distance in accordance with illustrative embodiments of the present invention.
  • the set of GNSS 110 and accelerometer triad units 115 needs to be rigid so that any rotation between the two or more sets of GNSS/accelerometer triads is maintained.
  • a set mounted on separate vehicles would not be operative.
  • sets mounted on a common roof of a vehicle, etc. that provides rotational consistency may be utilized in accordance with exemplary embodiments of the present invention.
  • the description of the rigid body 105 being a separate component from a vehicle, etc. should be taken as exemplary only. More generally, the rigid body 105 comprises any device or construct that supports the set of GNSS/accelerometer triads at a predefined distance apart.
  • the GNSS/accelerometer triad units may be located on separate mounts that are a predefined distance away from each other. As noted above, such separate mounts must be rotationally linked to each other. That is, there must be a rigid and persistent relationship between the two sets of mounts to ensure rotational consistency among the steps through various degrees of freedom.
  • the system computes a precise baseline vector between the at least two GNSS antennas 110 A, B along the rigid body 105 to provide a two (or three) dimensional attitude solution.
  • Roll and pitch information may be computed directly from the accelerometer data by modeling the gravity vector.
  • the system may then remove the effects of gravity and other errors to obtain a measurement of the acceleration and rotation acting on the system 100 .
  • update position solutions may be determined between available GNSS solutions.
  • FIG. 2 is a schematic diagram illustrating the exemplary spacing between accelerometer/antenna systems in accordance with an illustrative embodiment of the present invention.
  • the rigid body 105 which is illustratively displayed as a rectangular structure supports a pair of accelerometer triad units 115 A, B separated by a distance d.
  • more than two GNSS/accelerometer triad units may be utilized mounted to a three dimensional rigid structure(s).
  • they may be arranged orthogonally.
  • the distance d is on the order of decimeters.
  • the distance's order of magnitude may differ.
  • the description of a decimeter order of magnitude separation between accelerometer triad units should be taken as exemplary only.
  • the required or desired separation may vary depending upon the sensitivity of the accelerometers and/or the frequencies involved with the GNSS system. For example, more precise GNSS systems may require a smaller amount of separation. Similarly, more accurate accelerometer triads may require less of a separation. Thus, developing a desired separation may be based on design choices based on required size, cost, etc.
  • the system 100 encompasses the rigid body to enable rotational solutions to be determined based on the two accelerometer triads. Further, a baseline vector may be computed using, e.g., carrier phase observations, between the two GNSS antenna connected to the rigid body 105 .
  • FIG. 3 is an exemplary schematic diagram of an exemplary navigation/location system 300 in accordance with an illustrative embodiment of the present invention.
  • the system 300 is embodied as a GNSS subsystem 310 operatively interconnected with an INS subsystem 305 in accordance with an illustrative embodiment of the present invention.
  • the GNSS subsystem 310 and INS subsystem 305 operate under the control of a processor 315 to calculate the GNSS and INS positions, as well as appropriate velocity, pitch, yaw and roll information.
  • the GNSS subsystem 310 processes satellite signals received over antennas 110 A, B.
  • the INS system receives measurements from accelerometer triads 115 A, B comprising data from the exemplary orthogonally positioned accelerometers.
  • the INS system may perform a mechanization process, described further below, to obtain location and rotational information using the accelerometer data.
  • the data from the accelerometer triads is time tagged by the GNSS clock 320 .
  • the GNSS and INS systems can thus reliably interchange position related information that is synchronized in time.
  • the two systems are illustratively operated together, through software integration in the processor 315 to enable position and navigation related information to be shared between the two systems. For ease of understanding, the description of the processing operation of the two systems are made without specific reference to the processor 315 .
  • the system may, in alternative embodiments, instead include dedicated GNSS and INS sub processors to communicate with one another at appropriate times to exchange information that is required to perform the various GNSS and INS calculations operations discussed below.
  • the INS processor may communicate with the GNSS processor when INS data is provided to the sub processor in order to time tag the data with GNSS time. Further, the GNSS sub processor communicates with the INS of processor to provide GNSS position information at the start of measurement intervals and so forth.
  • the GNSS system operates in a known manner to acquire the signals from at least a minimum number of GNSS satellites to calculate pseudo-ranges to the respective satellites. Based on the pseudo-ranges, the GNSS system determines its position relative to the satellites. The GNSS system may also determine its position relative to a fixed position-based receiver (not shown) in the use of differential correction measurements generated at the base station.
  • the INS system processes the accelerometer data, that is, the measurements from the various accelerometers to determine inertial location/navigation information. The INS system further processes both the INS data and the GNSS position and associated covariance information to set up various matrices for a Kalman filter 325 .
  • the INS subsystem updates the Kalman filter and provides updated error states to a mechanization process.
  • the mechanization process uses the updated information and the INS data to propagate, over the measurement interval, the inertial position, attitude and velocity with the inertial position and other system element errors being controlled with GNSS positions at the start of the measurement interval.
  • the INS system determines which accelerometers are present and connected to the processor in order to ensure that the INS measurements are scaled correctly.
  • a generic Kalman filter processes estimates a series of parameters that describe and predict behavior of the system.
  • the Kalman filter operates with a set of state variables that describe errors in the system and associated variants covariance matrix that describes the current knowledge level of the states.
  • the Kalman filter maintains an optimal estimate of system errors and associated covariance over time in the presence of external measurements to the use of propagation and updating processes.
  • the Kalman filter propagation and uses knowledge of the state dynamic behavior determined from the physics of the system and the stochastic characteristics of the system over time.
  • Kalman filter updates use the linear relationship between the state and observation vectors in conjunction with the covariance matrices related to those factors to determine corrections to both the state sector in the state covariance vector.
  • accelerometer data is collected and utilized to compute pitch and roll information by the modeling of the gravity vector.
  • Yaw and pitch rate information is illustratively computed by differencing like sensors across the baseline(s).
  • yaw, pitch and roll information may be directly observable from the differential accelerometer data across the baseline(s).
  • at least three of the GNSS antenna/accelerometer triad units would be mounted in an orthogonal manner.
  • the accelerometer data is further integrated to obtain solutions between available GNSS solutions. These accelerometer based solutions are fed into the Kalman filter to obtain navigation and location information. Further, the INS 305 may compute the a position, velocity and attitude navigation of the rigid body from the specific forces acting on the rigid body.
  • FIG. 4 is a flowchart detailing the steps of a procedure 400 for computing location information in accordance with an illustrative embodiment of the present invention.
  • the procedure begins in step 405 where the system obtains GNSS location information.
  • the GNSS information may be obtained by analyzing the appropriate GNSS satellite signals received at antennas 110 A, B and processed by the GNSS subsystem 310 .
  • the GNSS subsystem 310 may include various features, such as, multipath detection, etc. that may be utilized to improve the GNSS location information.
  • Inertial motion unit information is then obtained in step 410 .
  • This may be obtained by collecting accelerometer data from the accelerometer triads 115 A, B.
  • the rotation rate is then obtained in step 415 .
  • the rotation rate may be obtained by analyzing the forces measured along the rigid body from the two accelerometer triads 115 A, B.
  • Roll and pitch information may be computed directly from the accelerometer data.
  • the INS then removes the effects of gravity and other errors to obtain a measurement of the acceleration and rotations acting on the rigid body. This rotational information may then be utilized for navigation/location purposes.
  • the mechanization process may be utilized to convert the raw accelerometer data into navigation information.
  • This mechanization process illustratively uses the conditions associated with the ending boundary of the previous measurement interval, and propagates the position, velocity and attitude to the end of the current measurement interval.
  • dR b e dt R b e ⁇ ( ⁇ ei b + ⁇ ib b )
  • d 2 ⁇ r e dt 2 R b e ⁇ f b + g e - 2 ⁇ ⁇ ie e ⁇ dr e dt
  • the first differential equation maintains the attitude relationship between the reference, or body, frame and the computational frame (ECEF in this case).
  • the R b e transformation matrix is maintained with the following quaternion elements and is recomputed at the IMU sampling rate.
  • ⁇ angular velocity of the body.
  • the location information is then output to a Kalman filter step 420 . That is, GNSS information, the accelerometer information and the computed information from the accelerometer information (e.g., rotation rate, etc.) are fed into the Kalman filter. Lastly, the Kalman filter utilizes the various input information to generate location information that is an output for use by other components (not shown). The procedure then loops back to step 405 for the next iteration.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)
US15/136,247 2016-04-22 2016-04-22 System and method for long baseline accelerometer/GNSS navigation Active US9933263B2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US15/136,247 US9933263B2 (en) 2016-04-22 2016-04-22 System and method for long baseline accelerometer/GNSS navigation
EP16898888.9A EP3446154A4 (fr) 2016-04-22 2016-12-19 Système et procédé pour accéléromètre/navigation par gnss à ligne de base longue
CA3013947A CA3013947A1 (fr) 2016-04-22 2016-12-19 Systeme et procede pour accelerometre/navigation par gnss a ligne de base longue
PCT/CA2016/051508 WO2017181261A1 (fr) 2016-04-22 2016-12-19 Système et procédé pour accéléromètre/navigation par gnss à ligne de base longue

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US15/136,247 US9933263B2 (en) 2016-04-22 2016-04-22 System and method for long baseline accelerometer/GNSS navigation

Publications (2)

Publication Number Publication Date
US20170307378A1 US20170307378A1 (en) 2017-10-26
US9933263B2 true US9933263B2 (en) 2018-04-03

Family

ID=60090056

Family Applications (1)

Application Number Title Priority Date Filing Date
US15/136,247 Active US9933263B2 (en) 2016-04-22 2016-04-22 System and method for long baseline accelerometer/GNSS navigation

Country Status (4)

Country Link
US (1) US9933263B2 (fr)
EP (1) EP3446154A4 (fr)
CA (1) CA3013947A1 (fr)
WO (1) WO2017181261A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017001543A1 (de) * 2017-02-16 2018-08-16 Kathrein-Werke Kg Antenne, insbesondere Mobilfunkantenne
AU2018337066A1 (en) * 2017-09-22 2020-04-30 OzX IP Pty Ltd Odometer system for a recreational vehicle
GB2584463B (en) * 2019-06-04 2023-06-28 Atlantic Inertial Systems Ltd Direction finder

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020165669A1 (en) * 2001-02-28 2002-11-07 Enpoint, L.L.C. Attitude measurement using a single GPS receiver with two closely-spaced antennas
US20090024325A1 (en) * 2007-07-19 2009-01-22 Scherzinger Bruno M AINS enhanced survey instrument
US20110068975A1 (en) 2009-09-21 2011-03-24 Zietz John M Gnss ultra-short baseline heading determination system and method
US20170031032A1 (en) * 2015-07-27 2017-02-02 Qualcomm Incorporated Visual inertial odometry attitude drift calibration

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102508275B (zh) 2011-10-28 2013-06-19 北京航空航天大学 多天线gps/gf-ins深度组合定姿方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020165669A1 (en) * 2001-02-28 2002-11-07 Enpoint, L.L.C. Attitude measurement using a single GPS receiver with two closely-spaced antennas
US6754584B2 (en) * 2001-02-28 2004-06-22 Enpoint, Llc Attitude measurement using a single GPS receiver with two closely-spaced antennas
US20050004748A1 (en) * 2001-02-28 2005-01-06 Enpoint, Llc. Attitude measurement using a single GPS receiver with two closely-spaced antennas
US7136751B2 (en) * 2001-02-28 2006-11-14 Enpoint, Llc Attitude measurement using a GPS receiver with two closely-spaced antennas
US20090024325A1 (en) * 2007-07-19 2009-01-22 Scherzinger Bruno M AINS enhanced survey instrument
US20110068975A1 (en) 2009-09-21 2011-03-24 Zietz John M Gnss ultra-short baseline heading determination system and method
US20170031032A1 (en) * 2015-07-27 2017-02-02 Qualcomm Incorporated Visual inertial odometry attitude drift calibration

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Search Report issued in international application No. PCT/CA2016/051508, dated Mar. 15, 2017.

Also Published As

Publication number Publication date
EP3446154A4 (fr) 2020-01-01
US20170307378A1 (en) 2017-10-26
CA3013947A1 (fr) 2017-10-26
WO2017181261A1 (fr) 2017-10-26
EP3446154A1 (fr) 2019-02-27

Similar Documents

Publication Publication Date Title
EP3408688B1 (fr) Gnss et système de navigation inertiel utilisant le lacet relatif comme variable observable pour un filtre ins
US9026263B2 (en) Automotive navigation system and method to utilize internal geometry of sensor position with respect to rear wheel axis
US6859727B2 (en) Attitude change kalman filter measurement apparatus and method
US8024119B2 (en) Systems and methods for gyrocompass alignment using dynamically calibrated sensor data and an iterated extended kalman filter within a navigation system
US9494428B2 (en) Attitude determination method, position calculation method, and attitude determination device
CN103235328B (zh) 一种gnss与mems组合导航的方法
US7671794B2 (en) Attitude estimation using intentional translation of a global navigation satellite system (GNSS) antenna
EP3043148B1 (fr) Cap pour une solution de navigation hybride sur la base de mesures étalonnées magnétiquement
EP2927641B1 (fr) Appareil de positionnement comprenant un capteur inertiel et procédé de compensation de la température d'un capteur inertiel
EP1668381B1 (fr) Systeme de navigation gps inertiel utilisant des donnees d'alignement injectees pour le systeme inertiel
US8019543B2 (en) Methods for determining an initial AINS heading
EP2259023A1 (fr) Correction d'erreurs pour système de navigation intertielle
CA2511000A1 (fr) Systeme de navigation par inertie gps avec filtre kalman modifiee
US10809390B2 (en) Positioning apparatus
US7248967B2 (en) Autonomous velocity estimation and navigation
EP2549230B1 (fr) Procédé et système de navigation pour l'initialisation avec compensation de données inertielles
US9933263B2 (en) System and method for long baseline accelerometer/GNSS navigation
CN103575297B (zh) 基于卫星导航接收机的gnss和mimu组合导航航向角估计方法
Vaknin et al. Coarse leveling of gyro-free INS
CN101769743A (zh) 一种适用于微惯性与全球定位组合导航系统的分布式滤波装置
CN105549058B (zh) 原子钟、微惯性测量组合和导航系统的耦合方法及系统
Park et al. The enhancement of INS alignment using GPS measurements
Falletti et al. The Kalman Filter and its Applications in GNSS and INS
CN106323226A (zh) 一种利用北斗测定惯性导航系统与测速仪安装夹角的方法
Cepe et al. Stochastic analysis of reduced order GNSS based attitude determination algorithm

Legal Events

Date Code Title Description
AS Assignment

Owner name: NOVATEL INC., CANADA

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:BOBYE, MICHAEL;FENTON, PATRICK;REEL/FRAME:038392/0818

Effective date: 20160425

STCF Information on status: patent grant

Free format text: PATENTED CASE

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 4TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1551); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

Year of fee payment: 4

FEPP Fee payment procedure

Free format text: MAINTENANCE FEE REMINDER MAILED (ORIGINAL EVENT CODE: REM.); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY